In addition, many models make the mathematically simple but physically implausible assumption that swarms are
globally coupled (that is, each agent is influenced by the motion of all other agents in the swarm)
[1]}, [2]}, [3]}, [4]}, [5]}. Global coupling is easier to analyze and a
reasonable assumption in cases of high-bandwidth communication, with a sufficiently small number of
agents. In contrast, we are interested in the collective motion patterns that emerge when global
communication cannot be achieved. New behaviors can unexpectedly emerge when the communication structure
of a network is altered, as in [6]}, where the stability of solutions for compromise dynamics over an
Erdös-Renyi communication network is considered. However, in our system, we show robustness of emergent motion
patterns to loss of communication links in presence of delayed coupling [7]}.
